Automated beverage system

ABSTRACT

An automated system for preparing and delivering postmix beverages in response to one or more drink orders being entered from a remote point of sale unit or a local keypad and including: a postmix beverage preparation assembly for dispensing ice and a selected postmix beverage into a cup; an oblong carousel type conveyor assembly including a plurality of upwardly open cup holders which are driven by a motor driven belt so as to pass beneath a cup dispensing station, an ice dispensing station, a beverage dispensing station, and a plurality of pick-up stations; a cup storage and dispenser assembly including a bidirectionally rotatable turret upon which is mounted a plurality of different sized cup supply tubes for holding a respective stack of beverage cups; and a pneumatic vertically driven cup gripper/extractor mechanism having a pair of pneumatically operated gripper arms which operate to remove a cup from a selected supply tube on the turret and placing the extracted cup into an empty cup holder which is then transported past the dispensing stations and then to a pick-up station on the conveyor for manual removal by an attendant.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates generally to postmix beverage dispensing systemsand more particularly to an automated postmix beverage dispensing systemfor use with a remote point of sale unit and/or a local front controlpanel whereby beverage orders of different flavors and sizes areautomatically filled and delivered to a pick-up station, with all of thevarious system functions being programmable depending on the needs ofthe user.

2. Description of Related Art

Automated systems for dispensing beverages are generally known andinclude, inter alia, apparatus whereby cups are automatically placed ona moving conveyor, which thereafter travel past an ice dispenser,followed by a selective beverage dispenser and finally to a beveragepick-up station.

Typical examples of such apparatus include automatic beverage dispensingsystems shown and described in: U.S. Pat. No. 3,364,959, "BeverageDispenser", H. Herman et al, Jan. 23, 1968; U.S. Pat. No. 4,590,975,"Automatic Beverage Dispensing System", William S. Credle, Jr., May 27,1986; U.S. Pat. No. 4,944,337, "Automatic Beverage Dispensing SystemWith Plural Conveyors", William S. Credle, Jr. et al, Jul. 31, 1990;U.S. Pat. No. 4,951,719, "Automatic Postmix Beverage Dispensing SystemWith Flavor Indicators", Ronald L. Wiley et al, Aug. 28, 30, 1990; andU.S. Pat. No. 5,058,630, "Automatic Beverage Dispensing System WithProgrammable Cup Drop", Ronald L. Wiley et al, Oct. 22, 1991.

There is, however, an ongoing need for improvements in such systems.

Accordingly, it is an object of the present invention to provide animprovement in automated postmix beverage dispensing systems.

It is a further object of the present invention to provide animprovement in cup dispensing apparatus for delivering a cup of apredetermined selected size from a plurality of different sized supplytubes to an extractor mechanism positioned adjacent a conveyor.

It is another object of the invention to provide an automated beveragedispensing system which includes an improvement in apparatus forextracting a beverage cup of an appropriate size from a cup supply tubeand then positioning the cup on a conveyor.

It is yet another object of the invention to provide an improvement ingripper type apparatus for extracting a beverage cup from a cup supplytube and dropping an extracted cup into a cup holder located on theconveyor.

It is yet a further object of the invention to provide an improvement inmeans for automatically positioning a dropped cup in a cup holderlocated on the conveyor by an extractor/gripper device.

It is still a further object of the invention to provide an automatedsystem which is designed to leave a cup holder position vacant, whendesirable, for serving as a marker between beverage orders.

It is still another object of the invention to provide an improvement inautomated postmix beverage dispensing systems which is controlled by aprogrammable controller.

SUMMARY OF THE INVENTION

The foregoing and other objects are fulfilled by an automated system forpreparing and delivering postmix beverages to a pick up station, andcomprising: a postmix beverage preparation assembly for dispensing iceand a selected postmix beverage into a cup; a carousel type conveyorassembly including a plurality of upwardly open cup holders which aredriven by a motor driven belt so as to pass beneath a cup dispensingstation, an ice dispensing station, a beverage dispensing station, and aplurality of pick-up stations; a cup holder and dispenser assemblyincluding a bi-directionally rotatable turret upon which is mounted aplurality of different sized cup supply tubes for holding a respectivestack of beverage cups; a pneumatic vertically driven cupgripper/extractor mechanism having a pair of pneumatically operatedgripper arms which operate to remove the lowermost cup from a selectedsupply tube on the turret and placing the cup into an empty cup holderpositioned thereat; a display unit which, among other things, identifiesthe prepared beverage(s) delivered at a plurality of pickup stations;and, a programmable controller for controlling the overall operation ofthe system.

The controller operates the ice and beverage dispenser, the conveyor,the cup dispenser and the cup extractor in response to signals inputthereto from either a point of sale (POS) unit or by a local attendantso as to place an empty cup of a correct size for a selected order intoa cup holder, move the cup holder successively under an ice chute and abeverage dispensing valve assembly, dispensing the appropriate amount ofice and beverage into the cup, and thereafter moving the filled cup toone of a plurality of the pick-up stations.

The controller, moreover, is programmed to prepare an order consistingof several beverages which may be of different flavors and sizes andmay, if desired, leave an empty cup holder between successive holderswhich serves to provide for a dispensing value pre-flushing intervaland/or act as a marker delineating the last-filled cup of one order andthe first-filled cup of the following order.

The present cup turret position is sensed and is operated so as torotate in a direction which minimizes the travel time required forpositioning a selected cup supply tube over a cup holder on theconveyor. Each cup supply tube, moreover, includes a plurality ofbifurcated cup restraining members located at the opening in the bottomfor holding a stack of cups in position for selective extraction.

Each cup holder also includes an open bottom portion including a webcontaining a set of cup positioning barbs which holds an empty cupagainst the side wall of the cup in response to a positioning inneraction provided by a spring element located under the conveyor, andextending upwardly through the web of the cup holder prior to its cominginto position under the ice chute.

Further scope of applicability of the present invention will becomeapparent from the detailed description provided hereinafter. It shouldbe noted, however, that the detailed description of the preferredembodiment of the invention provided herein is made for purposes ofillustration and not limitation. This is due to the fact that variouschanges and modifications coming within the spirit and scope of theinvention will become apparent to those skilled in the art.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will become more fully understood when consideredtogether with the accompanying drawings, wherein:

FIG. 1 is a perspective view generally illustrative of the preferredembodiment of the invention;

FIG. 2 is a front elevational view of an embodiment of the inventionshown in FIG. 1;

FIG. 3 is a top elevational view of the embodiment of the inventionshown in FIG. 1;

FIG. 4 is a side elevational view of the embodiment of the inventionshown in FIG. 1;

FIG. 5 is an exploded perspective view further illustrative of theembodiment of the invention shown in FIG. 1;

FIG. 6 is a perspective view illustrative of the conveyor assembly andgripper/extractor mechanism shown in FIGS. 1-5;

FIGS. 7A and 7B are respective views generally illustrative of thegripper/extractor mechanism shown in FIG. 6 in the rest and elevatedpositions, respectively;

FIG. 8 is an exploded perspective view illustrative of the parts in thegripper/extractor mechanism shown in FIGS. 7A and 7B;

FIGS. 9A and 9B are diagrams illustrative of the operation of the cupgripping operation performed by the gripper/extractor mechanism shown inFIGS. 7A and 7B;

FIG. 10 is an exploded perspective view illustrative of the conveyorassembly shown in FIG. 6;

FIG. 11 is a top elevational view of the conveyor assembly as shown inFIG. 10;

FIGS. 12A-12D are four different views of one of the cup holders formingpart of the conveyor assembly shown in FIGS. 10 and 11;

FIGS. 13A-13C are illustrative of the cup positioning operation carriedout following a cup being dropped into a cup holder by thegripper/extractor mechanism shown in FIG. 6;

FIG. 14 is an exploded view illustrative of the turret type cup supplytube assembly shown in FIGS. 1-5;

FIGS. 15 is a set of central longitudinal cross sectional viewsillustrative of various sized cup supply tubes utilized with the supplytube assembly shown in FIG. 14;

FIG. 16 is a perspective view generally illustrative of one of thebifurcated cup restrainers located in the bottom portion of the cupsupply tubes shown in FIG. 15;

FIGS. 17A and 17B are partial cross sectional views illustrative of theoperation of the cup supply tubes shown in FIG. 15;

FIGS. 18A and 18B are side elevational and top elevational views,respectively, of turret position detector in the cup dispensersub-assembly shown in FIG. 11;

FIG. 19 is a mechanical schematic diagram illustrative of the pneumaticactuating system utilized by the subject invention;

FIGS. 20A and 20B are exploded perspective view and top elevationalviews of the ice gate sub-assembly included in the preferred embodimentof the subject invention;

FIG. 21 is a block diagram of the electrical control system of thesubject invention;

FIG. 22 is a diagram illustrative of the control panel shown on theembodiment of the invention in FIG. 1;

FIG. 23 is a diagram illustrative of the drink delivery display locatedon the embodiment of the invention shown in FIG. 1; and

FIGS. 24A-24C depict a flow chart illustrative of the overall systemoperation of the subject invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Referring now to the drawings, wherein like reference numerals refer tolike parts throughout, and more particularly to FIGS. 1-5, referencenumeral 10 denotes a system cabinet including an ice and post-mixbeverage delivery unit 12 below which is a bottom section 14 for housinga control unit, not shown, and a refrigeration unit 16, shown in FIG. 5,which is protected by louvered cover 18. The refrigeration unit 16 is ofthe ice bank type, well known in the art, having an evaporator submergedin water within a water bank tank, around which evaporator a volume ofice is formed by operation of an electro-mechanical refrigerationsystem.

Above the bottom section 14 of the cabinet 10 is an ovular or oblongmotor driven carousel type of conveyor assembly 20. The conveyor 20includes nine (9) beverage cup holders 22₁ . . . 22₉, which normallymove in a clockwise direction over an oval track 25 having parallelsides and rounded end sections, and which resides in a moulded generallyrectangular drip tray 24, shown in detail at FIG. 10, for catching anyspilled ice and beverage. The drip tray 24, which is located on thefront portion of a flat plate 26, also acts to close off for the lowersection 14 of the cabinet.

The ice and beverage delivery unit 12 extends out over the conveyor 20and includes an ice delivery chute 28 at an ice dispensing station 29and a beverage dispensing valve and nozzle assembly 30 at a beveragedispensing station 31. Just above the ice chute 28 and beverage deliverynozzle assembly 30, is a front control panel 32 which may be, forexample, a touch panel for locally inputting a drink order as well asprogramming the system for selecting drink combinations.

The panel 32 also includes a visual display section 34. To the left ofthe panel 32 is a display unit 36 which is adapted to display the typeof beverage which is being delivered and located at the four(4) linearpick-up stations 37₁, 37₂, 37₃ and 37₄ at the front of the conveyor 20.

To the left side of the conveyor assembly 20 is a cup gripper andextractor mechanism 38. Located behind and to the right of the gripperand extractor mechanism 38 is a turret type cup storage unit 40,including five (5) cup supply tubes 42₁, 42₂ . . . 42₅ of various sizes,The details of this apparatus will be subsequently considered in detail.

The section 44 of the cabinet 10 directly behind the cup storage unit 40comprises a louvered housing for providing ventilation to the interiorof the cabinet 10 including the dispensing apparatus, not shown, as wellas the refrigeration unit 16 FIG. 5).

Considering now the details of the preferred embodiment of theinvention, the upper portion 12 of the cabinet 10 includes, as shown inFIG. 4, a plastic liner 46 which divides the interior of the unit intoan upper ice bin area 48, and a lower cold plate area 50. The cold platearea 50 includes a cold plate 52 through which a plurality of heatexchange lines, not shown, extend. A plurality of beverage deliverylines, also not shown, provide for delivery of beverages from sourcesthereof, also not shown, to the water bath of refrigeration unit 16.Stainless steel heat exchange portions of those beverage lines extendthrough the water bath tank thereof for cooling of the beverage contentsflowing therethrough. The beverage delivery lines then flow to, and arefluidly connected with, the plurality of cold plate heat exchange lines.Outlets of the cold plate heat exchange lines are, in turn, connected tothe multi-flavor beverage dispensing valve 30, which may be, forexample, a multi-flavor valve which is manufactured by McCannEngineering and Manufacturing Company, Los Angeles, Calif. Thus, it willbe appreciated by those skilled in the art that the dispenser hereinprovides two means for cooling the beverages, namely; by heat exchangewith ice on the cold plate 52 and by heat exchange with the cooled waterin the water bath tank of refrigeration unit 16. As a result, thebeverage cooling capacity, or volume of drink that can be cooled to adesired serving temperature per unit of time, by the automatic beveragedispenser of the present invention, is enhanced. This redundancy incooling systems provides a means for satisfactorily cooling drinks andcontinuing operation should one or the other of the cooling systembecome inoperative or determined to be unneeded.

An ice delivery mechanism located in the ice bin area 48 includes awheel 54 which includes a plurality of ice scoops or paddles 56extending from the outer perimeter thereof. The wheel 54, moreover,includes a set of auger bars 58 extending outwardly therefrom. A motorshown by reference numeral 60 is used to drive the wheel 54. Further asshown in FIG. 4, the ice chute 30 is shown extending downwardly from ahole 62 in the liner 46.

When ice is loaded into the ice bin area 48, rotation of the wheel 54 bythe motor 60 causes the paddle 56 to deliver ice to the hole 62 and theninto the ice chute 30. The set of auger bars 58 serve to break the icein the bin 48 should any melting and refreezing thereof occur. Also,rotation of the wheel 54 causes ice to fall by gravity into the coldplate area 50 by means of a hole 64 formed in the bottom portion of theliner 46. The ice in the cold plate area 50 serves to chill the coldplate 52 so as to provide for heat exchange cooling of beverages beingrouted through the cold plate 52 to the dispensing valve and nozzleassembly 30.

Referring now to the conveyor assembly 20 and more particularly to FIG.6, shown thereat, is the set of cup holders 22₁ . . . 22₉ locatedthereon being driven in a clockwise direction. One of the cup holders22₁ is located at a cup extraction station 66 at one end directlybeneath one of the five (5) cup supply tubes 42_(a) . . . 42₅ of the cupstorage unit 40. Further as shown in FIG. 6, a beverage cup 68 is beinggrasped by a pair of angulated outstretched gripper arms 70 and 72located on the top portion of the gripper and extractor mechanism 38.The gripper arms 70 and 72 are relatively wide, approximately 2 in. inwidth, so as to grasp a large lower portion of the cup 68 near the rimat the bottom in order to prevent the cup from being crushed orotherwise damaged when grasped. As a further insurance, the gripper arms70 and 72 also include relatively soft cup gripper pads 74 and 76located on the outer inner ends thereof as shown in FIGS. 7A and 7B.

The gripper and extractor mechanism 38 comprises a pneumaticallyactuated assembly which is shown in FIG. 7A in a lowered or restposition, while in FIG. 7B, it is shown in an elevated or cup extractingposition, where the gripper arms 70 and 72 partially close so as tograsp a cup 68 (FIG. 6). The raising and lowering operation and thegrasping operation are achieved by two pneumatic piston sub-assemblies,the first of which 78 is shown in FIG. 8, and the second of which 80 isshown in FIGS. 9A and 9B.

In FIG. 8, the lifting sub-assembly 78 is shown including, among otherthings, a hollow stationary support block 82 attached, for example, tothe side of the spill tray 24 as shown in FIG. 6 by a pair of fore andaft half cover plates 84 and 86. This structure houses and protects apneumatic cylinder 88 including a pair of air supply hoses 87 and 89 anda pair of support rods 90 and 92. The cylinder 88 includes a driveposition and a piston rod, not shown, attached to a verticallyelevatable base plate 94, which is shown in the rest position of FIG.7A, on top of the support block 82. A f our sided metal housing 96 ofrectangular cross section is secured to the underside of the baseplate94. One part 94 of a magnetic reed switch type of proximity sensor isattached to the support block 82, while the other part, not shown, isattached to the plate 94 for detecting when the upper portion ofgripper/extractor mechanism 38 is elevated and lowered.

On top of the base plate 94 there is located a gripper housing 98containing a pair of pivot blocks 100 and 102 to which is attached thegripper arms 70 and 72. On top of the gripper housing 98 is a supportbracket 104 on which is located an infrared (IR) light emitting element106 which forms part of an IR sensor assembly for generating an IR beam108 (FIG. 6) which passes under a cup supply tube 42 and across the cupdrop path to an IR receptor 110 (FIG. 3) located on the cabinet housing12 for detecting a cup jam, should one occur. At the cup extractionstation 66, the IR beam 108 will be uninterrupted prior to a cupextraction operation but will become temporarily interrupted during cupextraction as shown in FIG. 6. However, during a cup jam in the supplytube 42, the IR beam 108 will be continuously interrupted until the jamis cleared.

A cover 112 is shown in FIG. 8 secured to the upper portion of the baseplate 94 for protecting the gripper housing 98 as well as the IR emitterelement 106. The cover 112 as shown, includes a raised section 114 forreceiving the IR emitter element 106 and includes a small hole oraperture 116 through which the IR beam 108 exits out of the cover 112.The cover 112 additionally includes a pair of forward protrudingopenings 118 and 120 for the passage of the gripper arms 70 and 72therethrough from the pivot blocks 100 and 102.

Referring now to the piston assembly 80 for actuating the gripper arms70 and 72, as shown in FIGS. 9A and 9B, it basically includes a piston122 located in a cylinder 124 having a pair of air supply lines 126 and128 connected thereto for moving the piston 122 back and forth andthereby cause the piston rod 130 to pivot the blocks 100 and 102 towhich the gripper arms 70 and 72 are attached, causing the gripper arms70 and 72 to open and close as shown.

In addition to the elevation sensor referred to above, the gripper andextractor mechanism 38 also includes a sensor 136 for detecting when thegripper arms 70 and 72 are completely closed so as to provide anindication of an empty cup supply tube 40 during an extractionoperation. This sensor 136 also comprises a magnetic reed switch type ofproximity switch assembly. As shown in FIGS. 9A and 9B, a permanentmagnet element 137 is located on the piston 122. The piston cylinder 124is formed of diamagnetic material, e.g. aluminum and an external reedswitch 138 is located at the rear thereof. As shown in FIG. 9A, when thegripper arms 70 and 72 are open, the piston 122 is moved forward. Thereed switch 138 cannot be activated by the magnetic element 139. Thereed switch 138, moreover, will also not be activated by a partialclosure of the arms 70 and 72 which occurs when actually grasping a cup68 as shown in FIG. 6. However, in absence of a cup 68, the gripper arms70 and 72 will completely close as shown in FIG. 9B, whereupon themagnetic element 137 is moved adjacent the reed switch 138 which willthen become activated.

The details of the conveyor assembly 20 will now be considered.Referring now to FIGS. 10 and 11, the drip tray 24 is shown including anoblong cavity 140 containing a drainage hole 142 at one end. Centrallylocated in the cavity 140 is an elongated raised body portion 144 whichsupports a pair of gear blocks 145 and 147 for a drive gear 146 and anidler gear 148 and around which is located a toothed drive belt 150.

The nine(9) cup holders 22₁ . . . 22₉ are attached to the belt 150 andtravel over the track 25 which comprises an open metal grate 152 andwhich fits on the top portion 154 of the tray 24. The gears 146 and 148are furthermore held apart by a pair of belt tightening rods 156 and 158extending between the gear blocks 145 and 147. An elongated cover plate160 fits over the ends of the gear blocks 145 and 147 to protect thegears 146 and 148 as well as the drive belt 150. Further as shown inFIG. 10, the drive gear 146 is coupled to an electrical drive motor 162located beneath the drip tray 24 through a speed reduction device 164and associated hardware 166.

Located on the top portion 154 of the drip tray 24 is a reed switch 165which forms part of a magnetic reed switch sensor assembly including apermanent magnet 167 (FIG. 12A) located in the side of each cup holder22₁ . . . 22₉ including a permanent for detecting the presence of a cupholder, for example cup holder 22₁, at the cup dispensing station 66 asshown in FIG. 6. At the location of the fourth and last pick-up station37₄ (FIG. 1) is an infrared (IR) sensor Including an IR emitter element168 which generates an IR beam 170 which is projected across the top ofthe grate 152 through a cup holder, for example cup holder 229 shown inFIG. 6, to a receptor element 172 located on the raised supportstructure 144. The purpose of this sensor is to prevent a cup holder 22,from moving around to the cup dispensing station 66 if, for some reason,it contains a cup 68 or other object which has not been removedtherefrom.

In order to provide this feature, a pair of opposing IR beam passageholes 174 and 176 are located in the lower wall portion of each of thecup holders 22₁ . . . 22₉ as shown in FIGS. 12A and 12B. The holes 174and 176 permit uninterrupted passage of the IR beam 170 from the emitter168 to the receptor 172 as long as no cup 68 or other object is presentin the cup holder 22; however, the IR beam 170 will be interrupted aslong as the cup 68 or other object is present and the conveyor drivemotor 162 will be prevented from operating.

Considering now the details of the cup holders 22₁ . . . 22₉ as shown inFIGS. 12A-12C, in addition to having an outwardly tapered beveled toprim 178, located is an elongated raised portion 180, on one side of theouter wall surface 181 within which is located the permanent magnet 167as shown in FIG. 12A. On the opposite side of each cup holder 22₁ . . .22₉ is located a member 184 by which the cup holder 22 is affixed to thedrive belt 150 shown in FIGS. 10 and 11. Each cup holder, moreover,includes a pair of slots 186 and 188 as shown in FIG. 12C which extendthrough a bottom wall portion of the cup side wall 181 and the bottomwall 189 so as to receive a two fingered compressible spring member 193mounted on the grate 152 by a bracket 192 as shown in FIG. 10.

The spring member 190 is adapted to operate in conjunction with a set ofupwardly projecting barb type cup stops 194, 195, 196 and 197 as shownin FIG. 12D located on a pair of centralized cross members 198 and 200of the bottom wall 189 and spanning an open bottom portion of the cupholders 22₁ . . . 22₉ at 202. The purpose of the cup stops is forpositioning three different cup sizes A (12 oz. ), B (16 oz.) and C (21oz.) shown by the dashed circular outlines 204, 205 and 206,respectively, in the cup holder.

FIGS. 13A-13C are illustrative of the cup positioning operation which iscarried out prior to the arrival of a cup holder 22₁ . . . 22₉ at thedispensing stations 29 and 31 (FIG. 6) for respectively receivingmeasured amounts of ice and beverage. As shown in FIG. 13A, a cup 68 of,for example, size A, has been placed in a cup holder 22 which is movingin a direction shown by the arrow. When the cup holder 22 reaches theraised arms 191 of the spring member 190 which extend through the slots186 and 188 shown in FIG. 13B, the bottom edge of the cup 68 iscontacted thereby and moved rearwardly over the cup stop members 195 and196, where it comes to rest against the inner sidewall portion 208 ofthe cup holder. As the cup 68 passes over the spring member 190 asdepicted in FIG. 13C, the arms 191 are forced downward by the crossmember 200 (FIG. 12D). Thereafter, the spring arms 191 return to theirnormal upright position when the cup holder 22 clears the spring member190.

It should be pointed out that the barb type cup stops 194, 195, 196 and197 as shown in FIG. 12B, serve to prevent differently sized cups A, Band C from returning to their original position or toward a leadinginner sidewall portion 210 of the cup holder 22. The single barbed cupstop 197 on cross member 200 serves to keep the smallest sized cup Afrom moving laterally to any intermediate inner sidewalls shown byreference numerals 212, 214 in FIG. 12B. This placement serves to keepany cup 68 in a proper alignment for a subsequent ice and beveragedispensing operation upon the arrival at the dispensing stations 29 and31 shown, for example, in FIG. 11. Any cup 68 having a size greater thansize C (21 oz.) does not need to be prepositioned before a dispensingoperation because its size will automatically accommodate itself withinthe cup holder 22 for adequate targeting of ice and beverage.

Referring now to FIGS. 14 through 18, disclosed thereat are the detailsof the cup storage and supply unit 40 referred to earlier and which isshown, for example, in FIG. 14 including five(5) cup supply tubes 42₁,42₂ . . . 42₅ located on a bidirectionally rotatable turret assembly forlocating a required size supply tube adjacent the extractor turretgripper assembly in the shortest possible time depending on the supplytube presently in position at the cup extraction station 66. The turretassembly consists of a central mounting plate 216 having five(5) faces218₁ . . . 218₅, each including at least two keyed mounting slots 220whose spacing is specifically coded to mate with a like number ofcomplementary pins 224 located on respective plate members 222₁ . . .222₅ affixed to the outside surface of the cup supply tubes 42₁ . . .42₅ so that for a specific cup size, a cup supply tube of a designateddiameter can be attached to a particular face of the mounting plate 216.When desirable, an adaptor plate 226 can be mounted on a face plate 218to alter the size coding.

As shown in FIG. 15, cup sizes 68_(a) -68_(e) ranging from 12 Oz. to 42Oz., are adapted to be stored in either a smaller diameter supply tube42_(a) or a larger diameter supply tube 42_(b). The difference betweenthe two supply tubes 42_(a) for the 12 Oz. and 16 Oz. cups 68_(a) and68_(b) and the two supply tubes 42_(a) for 21 Oz. cups 68_(c) is areversed orientation of the mounting plate 222. With respect to the twosupply tubes 42_(b) for 32 oz. and 42 oz. cups 68_(d) and 68_(e), againit also involves a simple reversal of the mounting plate 222'. In thismanner, several different combinations of tube sizes can be mounted onthe turret mounting plate 16 so as to present a substantially commonbottom plane 228 for the various cup sizes 68 to the gripper/extractormechanism 38 (FIG. 6).

Each of the supply tubes 42₁ . . . 42₅, moreover, include a plurality ofbifurcated cup restraining members 230 mounted on the inside surface ofthe supply tubes 42 near the bottom opening thereof. The details of onecup restraining member 230 is shown in FIG. 16 and comprises arelatively short finger member 232 and a relatively long finger member234 extending outwardly from a flat segment 236 containing a pair ofmounting holes 238. The two finger members 232 and 234 are resilient andinclude angulated bends 240 and 242 having ridges 244 and 246 at theirouter extremities.

The function of the cup restrainer members 230 are illustrated in FIGS.17A and 17B. As shown in FIG. 17A, when a relatively short stack of cups68 is placed within a supply tube 42, the bends 240 and ridges 244 ofthe relatively shorter finger members 232 contact the rim 69 of thelowermost cup 68 and keeps the stack from falling through and out of thesupply tube. When a cup, for example, 68' is extracted from the stack bythe gripper arm assembly 38 shown, for example, in FIG. 6, its rim 69'will pull past the bend 242 and the ridges 246 of the longer fingermembers 234.

However, it was found that occasionally two or more cups 68 would beremoved by the gripping arms 70 and 72. In this instance, the longer setof finger members 234 would catch the second cup as shown in FIG. 17B.Also, where the stack of cups 68 is relatively large as shown in FIG.17B, often times the weight of the stack itself causes the lowermost cup68 to position itself on the bends 242 of the longer finger members 234,with the shorter finger member 232 serving as a supplementaryrestraining element. Thus, both the longer and shorter finger members232 and 234 cooperate to ensure that only one cup 68 at a time isextracted from a supply tube 42 irrespective of the size of the stackplaced therein.

The turret assembly 40 shown in FIG. 14 is made bidirectionallyrotatable by a drive shaft 248 passing from the mounting plate 216through a sleeve 250 where it connects to a speed reducer 252 coupled tothe shaft of a drive motor 254 which is controlled to rotate in either aclockwise (CW) or counter clockwise (CCW) direction, on demand toprovide optimum speed positioning of the cup supply tubes 42₁ . . . 42₅as noted above.

Located above the drive motor 254 and speed reducer 252 is a rotationalIR sensor assembly 256, the details of which are further shown in FIGS.18A and 18B. The sensor assembly 256 is contained within the pair offlanged housing members 258 and 259, which are fastened together. Thesensor 256 is comprised of an apertured circular disk 260 shown in FIG.18B which is secured to a hub 261 affixed to the shaft 248.

The disk 260 includes five(5) sets of light transmissive holes orapertures 262₁, 262₂, . . . 262₅, with each set spanning a 50° sector ofthe disk 260 as shown. The outer limits of each 500 sector are definedby a pair of apertures 264 and 266 and are used for supply tubepositioning and alignment at the cup extraction station 66. Within thespan limit apertures 264 and 266 are one or two apertures of a set ofthree(3) inner apertures 268, 270 and 272 which are used to identifywhich of the five(5) supply tubes 42₁ . . . 42₅ is presently located atthe cup extraction station 66. The first inner aperture 268 can be found15° away from a left outer aperture 264, while a second inner aperture270 can be found located 10° away from aperture 268. The third inneraperture 272 can be found 10° away from the second inner aperture 270 or15° away from the right outer aperture 266.

The apertured disk 260 operates in conjunction with five(5) IRemitter/receptor sensors 274, 276, 278, 280 and 282 mounted on a circuitboard 284 as shown in FIG. 18A, for sensing the five apertures 264, 266,268, 270 and 274. In operation, the disk 260 rotates in a horizontalplane where the peripheral edge thereof rotates in a groove 286 (FIG.18A) separating the respective emitter portion and receptor portion ofeach of the IR sensors 274 . . . 282. The particular location of theapertures 264 . . . 272 as sensed by the sensors 274 . . . 282 is usedto determine the current position of the turret assembly and to center aparticular supply tube 42₁ . . . 42₅ adjacent the gripper arms 70 and 72as shown in FIG. 6 at the extraction station 66.

The particular pattern of transmission and non-transmission of the IRbeams through the three intermediate apertures 268, 270 and 272, is usedto detect which of the five(5) supply tubes is present. There are fiveunique combinations of apertures, 268, 270 and 272, that correspond tothe five(5) supply tubes. The signal outputs from the five(5) IR sensors274 . . . 282 shown in FIG. 18B, are coupled via a cable 288, to asystem controller, the architecture of which is shown in FIG. 21 andwill be described hereinafter.

Before discussing the electrical control scheme employed in the subjectinvention, reference will first be made to the pneumatic control system,shown in FIG. 19 which also forms part of the subject invention. Asshown, in addition to the gripper and extractor mechanism 38 (FIG. 8)including a pneumatically actuated lifter assembly 78 and apneumatically actuated gripper assembly 80, there is also included is anice gate actuator assembly 290 which is further shown in FIGS. 20A and20B including a pneumatic cylinder 292 and a piston rod 294 connected toa piston, not shown, located within the cylinder 292. The piston withinthe cylinder 292 is activated pneumatically by air being supplied toeither of two air supply lines 296 or 298. A piston sensor assembly 300which may be, for example, a magnetic reed switch assembly is shownmounted on the rear portion of the cylinder 292 and is capable ofdetecting the position of the piston and accordingly the extension andthe retraction of the piston rod 294.

As shown in FIG. 20A, the piston rod 294 is connected at its outer endto a flat paddle type door member 302 which slides within a frame 304.The frame has a circular outer end section 306 which is fitted to theice chute 28 so that the ice door 302 can slide alternately back andforth to block and unblock ice flow through the chute 28. The door 302is cycled to open and close in response to actuation of the pistonassembly 290, with the amount of time the door is open determining theamount of ice which is delivered into a cup 68 at the ice dispensingstation 29 prior to a beverage dispensing operation 31.

Accordingly, and as shown in FIG. 19, compressed air from a source, notshown, is fed to an air filter/regulator 308 by an input air supply line310. Three air supply output lines 312, 314 and 316 are coupled from theair regulator 308 to respective solenoid operated control valves 318,320 and 322, which respectively operate the gripper arm piston assembly80, the ice gate assembly 290 and the gripper arm lift assembly 78. Eachof the control valves 318, 320 and 322 are operated by respectiveelectrical solenoids 324, 326 and 328 by the electrical controlcircuitry shown in FIG. 23. A fourth solenoid controlled valve 330 andsolenoid 332 therefor, is located in the air supply line 316 feeding thelift solenoid valve 522 for presenting the lift assembly 78 from beingactuated when the dispensing system is, for example, inactive.

A manually operated air interrupter switch 334 is also located in theice gate air supply line 296 for disabling the ice gate assembly 290when necessary to permit safe servicing of the assembly.

With respect to the electrical control of the subject system, anelectrical block diagram of the control system architecture is shown inFIG. 21. The electrical control system essentially consists of threeprinted circuit boards 336, 338 and 340 comprising a motion control(M/C) board, a store sensor (S/S) board, and a beverage interface (B/I)board, with each circuit board including one or more programmablecontrollers such as digital signal microprocessors 337, 339 and 341which are located in the lower portion 14 of the cabinet 10 (FIG. 1)beneath the conveyor assembly 20. Additionally, the electrical controlsystem includes, as shown in FIG. 21, a point of sale (POS) unit 344,which may be, for example, a remote cash register, an operated actuatedtouch type keypad 32, and a pair of display units 32 and 36.

The store sensor (S/S) board 338 basically has for its purposecontrolling AC power being fed to the motion control (N/C) board 336 andthe beverage interface (B/I) board 340. As shown, a power supply 342 isconnected to the store sensor (S/S) board 338 by a power bus 343. Thes/s board 338 also includes four inputs to terminals I1, I2, I_(a) andI_(b), the last of which is indicative of an AC power failure. The otherthree inputs comprise signals (Soldout) indicative of a lack of beveragesyrup, to no CO2 for providing carbonated water and no air for thepneumatics system shown in FIG. 19. Any one of the four inputs can causethe microprocessor 339 to signal a circuit interruption of AC power onthe power leads 345 and 347 connected between terminals P1 and terminalsP2 of the motion control (M/C) board 336 and the beverage interface(B/I) board 340.

The motion control (M/C) board 336 is shown receiving five IR sensorinputs at terminals I1, I2 . . . I5 which correspond to the signalsgenerated by the five I/R sensors 274 . . . 282 in the sensor assembly256 (FIG. 18B) and which indicate turret position and the supply tubeidentification. A turret interlock input is also provided at I6. Theseinputs are processed by the microprocessor 337 to provide either aclockwise or counter clockwise motor control signal at the outputs O1and O2 for the turret drive motor 254 shown in FIG. 14.

The second set of inputs to M/C board 336 comprises four inputs toterminals I7, I8, I9 and Ia indicating the state of the cup holder reedswitch 165 at the extractor station 66 and the IR beam 170 across theconveyor track at the fourth dispensing station 37₄ for controlling theconveyor drive motor 162 and which is provided by control signals atoutputs 03 and 04. Also an output 05 is provided for controlling theon/off air solenoid 332 in the gas supply line 316 associated with thelift solenoid valve 22 in FIG. 19. Two control signal outputs 06 and 07are additionally used for activating solenoids 328 and 324,respectively, for the lift assembly 78 and the cup gripping assembly 80shown in FIG. 19.

With respect to the beverage interface (B/I) board 340, it includesinputs from the operator keypad 32 or the point of sale (POS) unit 344along with three inputs at 1a, 1b and 1c; concerning the condition ofthe ice gate 302. These inputs are used by the microprocessor 341 tocontrol the ice gate solenoid 326 shown in FIG. 19, the ice auger motor60 shown in FIG. 4, and a set of ten(10) solenoids, not shown, coupledto the outputs O3, O4, . . . Ob, Oc which control the amount of sodawater, the amount of still water, and the amount of eight differentselections of beverage syrup used by a set of dispensing valves, notshown, located in the section 12 of the cabinet 10 behind the panels 32and 36 in the vicinity of the ice chute 28 and model assembly 30.

The keypad 32 is located on the front of the cabinet 10 and is shown ingreater detail in FIG. 2. The keypad 22 includes a set of selection keys346₁ . . . 346₁₅ which permit an operator to program and/or selectfive(5) different drink sizes, eight(8) different beverage flavors, andwater only, or soda only. Also included are a row of keys 346₁₆ . . .346₂₁ at the bottom which permit selection of manual/automaticoperation, alarm silencing, selection change, no ice, extra ice, andsystem control function entry.

A 20 character×4 line operator display 34 is included in the upper leftportion of the panel 32. Below the display 34 is a set of four touchactuated keys 348₁ . . . 348₄ for moving the material displayed in fourorthogonal directions, i.e. up, down, left and right, with the displayedinformation being generated by the beverage interface board 340 shown inFIG. 21. The beverage interface board 34D is also shown controlling a 24character×2 line drink display 36, which is shown in FIG. 23 alsolocated on the front of the cabinet 10 and includes four separaterelatively small display windows 350₁, 350₂, 350₃ and 350₄ and whichoperate to scroll the description of the beverage being sequentiallyconveyed in cup holders 221₁ . . . 22₉ to the four pick-off stations37₁, 37₂, 37₃ and 37₄ on the front of the conveyor 20 as shown, forexample, in FIG. 1.

The overall operation of the system implementing the subject inventionis shown in the flow chart illustrated in FIGS. 24A-24C. Considering nowsystem operation, as shown in FIG. 24A, operation begins with step 352wherein a drink is ordered at the point of sale (POS) unit 344 shown inFIG. 21, or by way of the touch panel 32 shown in FIG. 23. Next, asshown by step 354, the beverage interface (B/I) board 340 shown in FIG.21, receives the drink order and thereafter manages the drinkpreparation through to completion by its microprocessor 341. This isaccompanied by step 356 where the motion control (M/C) board 336receives an order to extract a cup 68 from one of the cup supply turrettubes 42₁ . . . 42₅ shown, for example, in FIG. 1, under control of themicroprocessor 337.

This is followed by determination as to whether or not a cup 68 or otherobject is blocking the IR sensor beam 108 shown in FIG. 1 across the cupdrop path. This comprises step 358. If the determination is positive,order production is suspended and a clear cup jam alarm is displayed andSounded, indicated by step 360. Removal of the obstructing object and asubsequent pressing of the enter button 346₂₁ on the touch control panel32 is required to resume operation. If the cup drop path is clear, themotion control (M/C) board 336 indexes the cup supply turret assembly 40to place the appropriate cup supply tube 42₁ . . . 42₅ at the dispensingstation 66 as shown by step 362.

Next, a determination is made at step 364 as to whether or not theproduct, i.e. beverage ordered, requires a preflush of the dispensingvalve nozzle assembly 30 because of the previous type of drink that wasdispensed. If the determination is in the affirmative, the motioncontrol (M/C) board 336 advances the conveyor assembly 20 clockwise byone cup holder position to leave an empty cup holder 22 for a flushingof the valve nozzle assembly 30. This is indicated by step 366. If anegative determination is made in step 364, the motion control (M/C)board 366 then raises the cup gripper/extraction mechanism 38 as shownin FIG. 7B to the UP position. This is indicated by step 368.

This is followed by a determination as to the position of the liftproximity switch 132 shown by step 370. If the gripper/extractionmechanism 38 has not reached the UP position, then a clear cup jam alarmis displayed and sounded. Also, the conveyor 20 and the turret assembly40 is disabled as shown by step 362. This requires removal of the cup orother object blocking the lift mechanism 38 and again requires thepressing of the enter button 346₂₁ to thereafter extract a cup andresume operation.

If the reed switch assembly 132 reads an UP position, then a step 374 iscarried out to close the gripper arms 70 and 72 via the motion control(M/C) board 336.

This is followed by a determination as to whether or not a cup 68 ispresent in the cup supply tube 42₁. . . 42₅ which is currently presentat the extraction station 66. This is evidenced by step 376 and iscarried out by the magnetic reed switch assembly 136 shown in FIGS. 9Aand 9B. If there is no cup 68 in the cup supply tube 42 present at theextraction station 66, the motion control (M/C) board 336 opens thegripper arms 70 and 72 and lowers the mechanism 38 to the DOWN position,as shown by step 378 in FIG. 24B.

Next, a determination is made as to whether more than one cup supplytube 42 provides the size of cup needed, such as when one cup size isused more than others. This is shown by the query step 380. If thedetermination is affirmative, then the program sequence loops back tostep 362 and then continues onward. If the determination is in thenegative, then an empty supply tube (sold out) alarm is displayed andsounded as shown by step 382.

A reloading of the appropriate cup supply tube is required which is thenfollowed by pressing of the enter button 346₂₁ once again to resume acup extraction from a filled supply tube 42 by looping back to step 368(FIG. 24A).

If there is a cup present in the appropriate cup supply tube 42 per step366, then the motion control (M/C) board 336 lowers theextractor/gripper assembly 38, to the DOWN position, as shown by step384 to extract the cup. Next, a query step 386 is entered fordetermining whether the gripper/extractor assembly 38 has successfullyextracted a cup 68 by only a partial closure of the gripper arms 70 and72 and which would be indicated by non-actuation of the magnetic reedswitch 138 in proximity sensor 136. If the determination is positive,then the gripper arms 70 and 72 are opened and the extracted cup 68 isdropped into a cup holder 22 at the extraction station 66, as shown bystep 388.

If the determination in step 386 is negative, then the gripper arms 70and 72 are commanded to attempt to extract a cup 68 in four(4)successive arm closing attempts, as shown by step 390. After eachattempt, the program loops back to step 386. If after four(4)unsuccessful attempts to grasp a cup 68, then an alarm is displayed andsounded per step 392. Correction of a lodged cup condition is requiredfollowed by a pressing of the enter button 346₂₁ in order to complete acup extraction. This is followed by a repeat of steps 368-388.

In the operation of grasping and dropping a cup 68 into a cup holder 22as shown by step 388, if a cup or other object interrupts the IR sensorbeam 108 across the cup drop path as shown by query step 394, step 392indicates that a cup jam alarm is displayed and sounded and furtherconveyor movement is stopped. Removal of the cup or other objectblocking the sensor beam 108 is required per step 396 followed by apressing of the button 346₂₁, whereupon another extraction step 368 ismade.

Following the dropping of an empty cup 68 into a cup holder 22 at theextraction station 66, determination is made per step 398 as to whethera cup or other object is interrupting the infrared beam 170 (FIG. 10)passing through the cup holder 22 located at the fourth and last pick-upstation 37₄ shown in FIG. 1. If the IR beam 170 is interrupted, aconveyor full message is displayed, as shown by step 400. Further drinkproduction is interrupted until the cup or other object is removed fromthe cup holder 22 at pick-up station 37₄ before continuing.

If the cup holder 22 is empty at the last pick-up station 37₄, themotion control (M/C) board 36 then directs the conveyor drive motor 162to advance the empty cup holder 22 at station 374 to the extractionstation 66 as shown in step 402 in FIG. 24C.

This now leads to the ice and beverage dispensing steps required inpreparing a drink order. Accordingly, as shown by query step 404, adetermination is made as to whether or not a cup holder 22 with a cup 68therein has reached the ice dispensing station 29, shown, for example,in FIG. 6. This is followed by steps 406-416.

If the cup holder 22 has not reached the ice delivery station 29, aquery is made at step 418 as to whether or not the cup holder 22 hasreached the drink dispensing station 31. In the event that the drinkrequires ice, per step 406, an inquiry is made as to whether the drinkrequires extra ice as shown in step 408. If the answer is in theaffirmative, step 410 is entered, at which time the ice gate open timeis doubled per step 410. Otherwise, the ice gate remains open for theappropriate time to dispense the proper amount of ice into the cup asshown by step 412. With the dispensing of ice completed, query step 414is made to determine whether the ice dispensed was insufficient. If so,step 416 indicates that a low ice alarm will be displayed and an alarmsounded. Again, this requires actuating the enter key 346₂₁ to resumeoperation. If the proper amount of ice has been dispensed per step 414,step 418 is initiated.

If the cup holder 22 has reached the drink dispensing station 31, adispensing valve delivers the appropriate amount of ordered beverageinto a cup 68 at the proper preset fill level, as shown by step 420.Furthermore, a "top-off" option is available if excess foaming is aproblem.

Referring now back to step 418, if the cup holder 22 has not reached thedrink dispensing station 31, the system operation reverts back to step398 shown in FIG. 24B. Step 422 indicates that a determination is madeas to whether or not another drink needs to be filled in the drinkorder, which if there is, the system operation loops back to step 368 inFIG. 24A and the operation repeats itself. If it consists in the lastdrink in an order, step 424 determines whether the cup holder 24 for thelast finished drink is at the last pick-up station 37₄. If the answer isaffirmative, then the operation loops back to step 398 shown in FIG.24B.

If the determination is in the negative, step 426 indicates that thesystem is ready for the next drink order, which upon receipt, causes theconveyor 20 to leave an empty cup holder 22 between the last-filledorder and the next order to be filled, as shown by step 428, whereuponsystem operation loops back to step 354 shown in FIG. 24A, where thebeverage interface (B/I) board 340 receives the next drink order to befilled.

Thus what has been shown and described is an automated beveragedispensing system whereby orders of different flavors and sizes can beordered by an operator from a remote point of sale unit or from a frontcontrol panel, whereupon they are automatically filled and delivered toa plurality of manual pick-up stations on the front of a conveyor.

Having thus shown and described what is at present considered to be thepreferred embodiment of the invention, it should be noted that the samehas been made by way of illustration and not limitation. Accordingly,all modifications, alterations and changes coming within the spirit andscope of the invention are herein meant to be included.

I claim:
 1. An automated beverage dispensing system, comprising:a cupconveyor including a plurality of upwardly open cup holders fortransporting beverage cups from a cup extraction station past a beveragedispensing station to one or more pick-up stations; a cup storage unitincluding a rotatable turret having a plurality of cup supply tubes of aselected size mounted thereon for holding a predetermined mix ofdifferent sized cups; and a cup gripper and extractor mechanism locatedadjacent the cup conveyor and including a pair of elongated cup gripperarms facing the turret and located on an elevatable base member, thebase member being driven vertically on command from a relatively lowerrest position to a relatively higher cup extracting position, whereuponthe gripper arms are driven toward each other so as to grip a cup of aselected cup size projecting from the bottom of one of the cup supplytubes, the base member thereafter being lowered to the rest positionwith the gripper arms simultaneously extracting the cup from said onetube and then retracting to drop the extracted cup into a cup holderlocated at the cup extraction station.
 2. A system according to claim 1and additionally including a controlled ice dispenser at an icedispensing station and a controlled beverage dispenser at the beveragedispensing station.
 3. A system according to claim 1 wherein the basemember and the gripper arms are pneumatically actuated.
 4. A systemaccording to claim 1 wherein the gripper arms comprise a pair ofpivotable gripper arms and additionally including a pneumaticallyactuated piston located on the base member and connected to the gripperarms for opening and closing the gripper arms.
 5. A system according toclaim 4 wherein the gripper arms are about 2 inches in width so as togrip a relatively wide portion of the cup.
 6. A system according toclaim 4 wherein the gripper arms grip a cup in relatively closeproximity to a bottom rim portion thereof to prevent any crushing of thecup.
 7. A system according to claim 1 wherein said gripper and extractormechanism includes a sensor for at least detecting the higher positionof the base member so as to enable actuation of the gripper arms duringa cup gripping operation.
 8. A system according to claim 7 wherein saidsensor comprises a magnetic type sensor assembly.
 9. A system accordingto claim 1 wherein said gripper and extractor mechanism includes asensor for detecting a closed state of the gripper arms for indicatingthat no cup has been grasped by the gripper arms for one or more cupgripping operations and signalling an empty cup supply tube.
 10. Asystem according to claim 9 wherein said sensor comprises a magnetictype sensor assembly.
 11. A system according to claim 1 and additionallyincluding a sensor for detecting a jammed cup supply tube facing thegripper arms.
 12. A system according to claim 11 wherein said sensorcomprises a light energy sensor assembly generating a beam of lightpassing beneath the cup supply tube facing the gripper arms and across acup drop path beneath the supply tube and wherein the beam isuninterrupted prior to a cup extraction operation, but becominginterrupted during a cup drop or a cup jam.
 13. A system according toclaim 12 wherein said sensor assembly comprises an infrared sensorassembly including an infrared emitter element and a receptor elementand wherein one of said elements is located on the gripper and extractormechanism.
 14. A system according to claim 1 wherein said cup conveyorcomprises a motor driven carousel type of cup conveyor.
 15. A systemaccording to claim 14 wherein said cup conveyor comprises an elongatedconveyor having parallel sides and rounded end portions.
 16. A systemaccording to claim 1 wherein the cup conveyor includes a sensor fordetecting the arrival of an empty cup holder at the cup extractionstation for stopping the conveyor thereat so as to receive a cupextracted by the cup gripper and extractor mechanism.
 17. A systemaccording to claim 16 wherein said sensor for detecting the arrival ofan empty cup holder comprises a magnetic type sensor assembly.
 18. Asystem according to claim 17 wherein said magnetic sensor assemblyincludes a magnet element mounted on a body portion of each said cupholders and a magnetic detector element located in a fixed position on aside portion of the conveyor.
 19. A system according to claim 1 whereinthe cup conveyor includes a sensor located on the conveyor at a lastpick-up station of said pick-up stations for detecting a cup holdercontaining a cup so as to inhibit further movement of the conveyor untilthe cup is removed from the cup holder.
 20. A system according to claim19 wherein said sensor for detecting a cup holder containing a cupcomprises a light energy sensor assembly generating a beam of lightpassing across the conveyor so as to intersect a cup holder, and whereinthe cup holders include apertures for the passage of the beamtherethrough.
 21. A system according to claim 20 wherein said sensorassembly includes an infrared emitter element and a receptor elementlocated on opposite sides of a section of said cup conveyor.
 22. Asystem according to claim 1 wherein the cup conveyor includes a gratefor supporting said cup holders.
 23. A system according to claim 22wherein said conveyor additionally includes a tray located beneath thegrate for catching spilled ice or beverage.
 24. A system according toclaim 1 wherein each of the cup holders includes an open portion in thebottom thereof and additionally including an upwardly projectingresilient bias member on the conveyor for extending through said openportion to move a cup dropped into a cup holder to an optimal positionfor receiving ice or beverage during a dispensing operation.
 25. Asystem according to claim 24 wherein said bias member comprises anangulated spring type element mounted on a cup holder support elementand being deformable by movement of a cup holder toward the dispensingstation.
 26. A system according to claim 25 wherein said spring typeelement includes a pair of upwardly projecting arms for contacting abottom rim portion of the cup inside the cup holder.
 27. A systemaccording to claim 24 and wherein each of the cup holders includes a setof upwardly projecting cup stops in a bottom portion thereof for keepinga cup in place once moved to said predetermined position.
 28. A systemaccording to claim 27 wherein the bottom of said cup holders includes apair of centralized cross members spanning said open portion and whereinthe set of cup stops are located on said cross members.
 29. A systemaccording to claim 28 wherein the set of cup stops include a pluralityof cup stops on one of said pair of cross members and at least one cupstop on the other of said pair of cross members.
 30. A system accordingto claim 27 wherein said cup stops comprises barb type elements.
 31. Asystem according to claim 1 wherein a rotatable turret isbidirectionally rotatable.
 32. A system according to claim 31 whereinthe turret is controlled to rotate in a direction which minimizes thetime for a cup supply tube containing a desired sized cup to bepositioned opposite the cup gripper arms.
 33. A system according toclaim 32 wherein the turret includes a sensor for detecting which ofsaid cup supply tubes is presently in position opposite the gripperarms.
 34. A system according to claim 33 wherein the turret includes adrive motor for rotating the turret and wherein said sensor fordetecting supply tube position comprises a light energy sensor assemblyincluding a rotatable disk attached to a shaft connected to the drivemotor, said disk having a respective set of apertures being spaced apartso as to define a code for each of said plurality of supply tubes, and aset of light emitter and receptor elements located on either side ofsaid disk for detecting a coded pattern of light transmission andnon-transmission indicative of both size and position of the supplytubes positioned opposite the gripper arms.
 35. A system according toclaim 34 wherein the coded apertures are located at the periphery of thedisk.
 36. A system according to claim 34 wherein said light emitter andreceptor elements comprise infrared elements.
 37. A system according toclaim 1 wherein said rotatable turret includes a central mounting plateincluding an arrangement of supply tube size attachment elements havinga specific pattern for each size of supply tube to be mounted thereonand wherein each size of supply tube includes complementary attachmentelements for attachment to said control mounting plate at a predefinedlocation around the mounting plate.
 38. A system according to claim 37wherein said attachment elements include male and female elements.
 39. Asystem according to claim 37 wherein said attachment elements includecomplementary sets of pins and slots.
 40. A system according to claim 1wherein each said cup supply tube includes at least one bifurcated cuprestraining member located in a bottom portion of the respective supplytube, said restraining member comprising a resilient member having arelatively short finger element and an adjacent relatively long fingerelement, both of said finger elements angulating inwardly and includingan inwardly bent end portion for stopping a cup by contacting a rimportion thereof, and wherein cup stopping at one of the end portions isdependent on the weight of overlying cups in a stack of cups located inthe supply tube.
 41. A system according to claim 40 wherein at least onecup restraining member comprises a plurality of cup restraining memberslocated around the bottom portion of the tube.
 42. A system according toclaim 1 wherein the ice dispenser includes a pneumatically actuated icegate.
 43. A system according to claim 1 and additionally including acontroller for controlling the delivery and extraction of a cup of adesired size by said gripper and extractor mechanism from one of saidcup supply tubes on the rotatable turret, controlling the conveyor toposition a cup holder at the cup extraction station for receiving anextracted cup from the griper and extractor mechanism and thereaftermove the cup past the dispensing stations, controlling the ice dispenserand beverage dispenser to fill the cup with a correct amount of ice andbeverage and then moving the conveyor so as to position the filled cupat one of said pick-up stations.
 44. A system according to claim 43wherein the controller comprises a programmed controller.
 45. A systemaccording to claim 44 and additionally including order selectionapparatus coupled to the controller for inputting an order to be filledby the dispensing system.
 46. A system according to claim 45 whereinsaid controller is programmed to leave a vacant cup holder betweensuccessive orders.
 47. A system according to claim 45 wherein said orderselection apparatus includes a relatively remote point of saleapparatus.
 48. A system according to claim 45 and additionally includinga system cabinet, and wherein said order selection apparatus includes amanual order selection panel located on a front portion of the cabinet.49. A system according to claim 48 and additionally including first andsecond displays on the front portion of the cabinet, the first displayindicating size and type of beverage being ordered and the seconddisplay indicating size and type of beverage being delivered to thepick-up stations.
 50. An automated beverage dispensing system includingan ice dispenser and a beverage dispenser, comprising:an oblong carouseltype conveyor including a plurality of upwardly open cup holders forsequentially transporting beverage cups from a cup extraction station,past an ice dispensing station and a beverage dispensing station to oneor more pick-up stations; a drive motor for powering the conveyor pastsaid stations; a cup storage unit including a rotatable turret having aplurality of cup supply tubes of a selected size mounted thereon forholding a predetermined mix of different sized cups; a rotation sensorconnected to the turret for determining the location of the cup supplytubes relative to the cup extraction station; a drive motor forbidirectionally rotating the turret so as to minimize the time forpositioning a cup supply tube at said cup extraction station; and a cupgripper and extractor mechanism located adjacent the cup conveyor andincluding an elevatable pair of elongated cup gripper arms facing a cupsupply tube on the turret, said gripper arms being elevatable from arelatively lower rest position to a relatively higher cup extractingposition, the gripper arms closing at said cup extracting position togrip a cup of a selected cup size at said cup supply tube, extractingthe cup from said cup supply tube while being lowered to the restposition and then opening to drop the extracted cup into a cup holderlocated at the cup extraction station.
 51. A method of dispensingbeverages from an automated beverage dispensing system, comprising thesteps of:moving a plurality of cup holders on a conveyor from a cupextraction station, past at least a beverage dispensing station, andpast at least one pick-up station for manual removal of a cup containinga beverage; bidirectionally rotating a cup supply tube turret includinga plurality of cup supply tubes of a selected size and containing apredetermined mix of different sized cups to deliver a cup of a selectedcup size to the cup extraction station; elevating a pair of elongatedcup gripper arms located adjacent the cup conveyor from a relativelylower rest position to a relatively higher cup extracting position andextracting a cup from the bottom of a cup supply tube; and lowering thegripper arms to said rest position while dropping the extracted cup intoa cup holder located at the cup extraction station.
 52. A methodaccording to claim 51 and additionally including the step of detectingwhich of said plurality of cup supply tubes is currently present at thecup extraction station.
 53. A method according to claim 52 wherein saidstep of rotating the cup supply turret comprises the step of rotatingthe turret in either the clockwise or counter clockwise direction forminimizing the time required to position a cup supply tube containingthe cup of the selected cup size at the cup extraction station.
 54. Amethod according to claim 51 and additionally including the step ofdetecting an empty cup supply tube at the cup extraction station.
 55. Amethod according to claim 51 and additionally including the step ofdetecting a cup jam in said cup supply tubes at the cup extractionstation.
 56. A method according to claim 51 and additionally includingthe step of detecting and stopping the conveyor when a cup holderarrives at the cup extraction station.
 57. A method according to claim51 and additionally including the step of detecting the existence of acup or other object in a cup holder at the pick-up station andinhibiting cup holder movement toward the cup extraction station untilthe cup or other object is removed from the cup holder.
 58. A methodaccording to claim 51 and additionally including the step of inputtingone or more orders to be filled by the dispensing system and leaving acup holder vacant between successive orders.
 59. A method according toclaim 58 wherein said one or more orders are entered from a remote pointof sale unit or a local order unit.